IDN 15 (S-0-0015) Telegram Type Parameter
The master uses IDN 15 to select the contents of the AT and MDT cyclic data fields. Selecting a pre-defined or standard telegram type completely defines the contents and order of cyclic data within the AT and MDT. Within IDN 15, the ServoSTAR 600 supports values 1 through 7 (indicated in bold-face type in the table below).
Telegram type 7, or the application type telegram, allows the master to define the contents and order of the AT and MDT cyclic data.
The IDNs that may be transferred as cyclic data within the AT and MDT are listed in IDN 187 and IDN 188 respectively.
The maximum amount of AT and MDT cyclic data that the drive can transfer is specified in IDN 185 and IDN 186 respectively. When the application telegram is selected, the master writes the desired cyclic data IDNs for the AT into IDN 16 and for the MDT into IDN 24 .
Data Length: | 2 bytes | Non-Volatile: | No |
Data Type: | Binary | Write Access: | CP2 |
Minimum: |
| Run-Up Check: | CP2 |
Maximum: |
| Cyclic Transfer: |
|
Default: | 4 | Serial Equiv: |
|
Units: |
| Version: | |
IDN Type: | SC | ADS Index Group (hex.): | 0x000F |
Definition:
IDN 15 Value | Telegram Type | Telegram Cyclic Data | |
|---|---|---|---|
MDT (Commands) | AT (Feedback) | ||
0 | Standard telegram 0 | Reserved: None | Reserved: None |
1 | Standard telegram 1 | Torque ( IDN 80 ) | None |
2 | Standard telegram 2 | Velocity ( IDN 36 ) | Velocity ( IDN 40 ) |
3 | Standard telegram 3 | Velocity ( IDN 36 ) | Motor Position ( IDN 51 ) |
External Position ( IDN 53 ) | |||
4 | Standard telegram 4 | Position ( IDN 47 ) | Motor Position ( IDN 51 ) |
External Position ( IDN 53 ) | |||
5 | Standard telegram 5 | Pos/Vel ( IDN 47 /36) | Motor Pos/Vel ( IDN 51 /40) |
13 | External Pos/Vel ( IDN 53 /40) | ||
6 | Standard telegram 6 | Velocity ( IDN 36 ) | None |
7 | Application telegram | Contents defined in IDN 24 | Contents defined in IDN 16 |